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#! /usr/bin/env python
"""
This script tests the Robot's 'friction' property.
http://www.blender.org/documentation/blender_python_api_2_68a_release/bpy.types.MaterialPhysics.html#bpy.types.MaterialPhysics.friction
"""
from morse.testing.testing import MorseTestCase
try:
# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|exec] <your test>.py
from morse.builder import *
from morse.builder.actuators import Light
except ImportError:
pass
import sys
from pymorse import Morse
def send_speed(s, simu, v=0, w=0, t=0):
s.publish({'v': v, 'w': w})
simu.sleep(t)
s.publish({'v': 0.0, 'w': 0.0})
class FrictionTest(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API. """
robot1 = ATRV()
pose = Pose()
pose.add_stream('socket')
robot1.append(pose)
motion = MotionVW()
motion.add_stream('socket')
motion.properties(ControlType='Velocity')
robot1.append(motion)
robot1.translate(y=-1)
robot1.set_friction(0)
robot2 = ATRV()
pose = Pose()
pose.add_stream('socket')
robot2.append(pose)
motion = MotionVW()
motion.add_stream('socket')
motion.properties(ControlType='Velocity')
robot2.append(motion)
robot2.translate(y=+1)
robot2.set_friction(5)
env = Environment('empty', fastmode = True)
def test_friction(self):
with Morse() as simu:
precision=0.1
# Read the start position, it must be (0.0, 0.0, 0.0)
for pose_stream in [simu.robot1.pose, simu.robot2.pose]:
pose = pose_stream.get()
self.assertAlmostEqual(pose['x'], 0.0, delta=precision)
# Read the start position, it must be (0.0, 0.0, 0.0)
for vw_stream in [simu.robot1.motion, simu.robot2.motion]:
send_speed(vw_stream, simu, 1.0, 0.0, 2.0)
pose = simu.robot1.pose.get() # friction = 0 / 100
self.assertAlmostEqual(pose['x'], 2.0, delta=precision)
pose = simu.robot2.pose.get() # friction = 5 / 100
self.assertAlmostEqual(pose['x'], 1.4, delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(FrictionTest)
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